During my final year at DigiPen I was able to create a physics engine based off of Thomas Jakobsen’s Advanced Character Physics paper. The engine uses DirectX 9.0 for graphics, SDL for window and input management, boost::pools for memory management, and TinyXML for object loading. The engine is capable of adjusting the force and position of gravity, wind resistance, and allows the dynamic creation of ragdolls and boxes.
If you would like to learn more about the project I have a summary of the project here.